/PROG  TL1_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 PICK";
PROG_SIZE	= 1689;
CREATE		= DATE 12-04-10  TIME 21:50:52;
MODIFIED	= DATE 24-03-22  TIME 00:50:42;
FILE_NAME	= TL2_PICK;
VERSION		= 0;
LINE_COUNT	= 31;
MEMORY_SIZE	= 2069;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  LBL[10] ;
   2:  UFRAME_NUM=0 ;
   3:  UTOOL_NUM=1 ;
   4:  WAIT DI[25]=ON    ;
   5:J P[1:CLEAR] 50% CNT50    ;
   6:J P[2:CLEAR] 50% CNT50    ;
   7:J P[3:CLEAR] 50% CNT50    ;
   8:J P[4:CLEAR] 50% CNT50    ;
   9:J P[5:CLEAR] 50% CNT50    ;
  10:J P[6:APPROACH] 30% CNT50    ;
  11:L P[7:APPROACH] 500mm/sec CNT50    ;
  12:  WAIT DI[25]=ON    ;
  13:L P[8:APPROACH] 300mm/sec FINE    ;
  14:  DO[14]=ON ;
  15:  WAIT DI[14]=ON    ;
  16:  WAIT    .50(sec) ;
  17:L P[9:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[20]=ON    ;
  18:  WAIT   1.00(sec) ;
  19:  DO[14]=OFF ;
  20:  DO[13]=ON ;
  21:  WAIT DI[13]=ON    ;
  22:  WAIT   1.00(sec) ;
  23:L P[10:APPROACH] 100mm/sec CNT50 ACC50 DB    0.0mm,DO[20]=OFF    ;
  24:L P[11:APPROACH] 300mm/sec CNT50    ;
  25:L P[12:APPROACH] 1000mm/sec CNT50    ;
  26:J P[13:CLEAR] 30% CNT50    ;
  27:J P[14:CLEAR] 50% CNT50    ;
  28:J P[15:CLEAR] 50% CNT50    ;
  29:J P[16:CLEAR] 50% CNT50    ;
  30:J P[17:CLEAR] 50% CNT50    ;
  31:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    44.011 deg,	J2=   -87.080 deg,	J3=    90.000 deg,
	J4=     8.668 deg,	J5=   -86.410 deg,	J6=  -102.928 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    79.571 deg,	J2=   -81.938 deg,	J3=    89.820 deg,
	J4=    89.989 deg,	J5=   -75.422 deg,	J6=   -94.260 deg
};
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  -325.007  mm,	Y =  2707.689  mm,	Z =  2280.758  mm,
	W =   -90.785 deg,	P =   -85.911 deg,	R =   -56.116 deg
};
P[4:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   168.853 deg,	J2=   -82.496 deg,	J3=    75.427 deg,
	J4=    92.163 deg,	J5=   -75.580 deg,	J6=  -111.661 deg
};
P[5:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   191.910 deg,	J2=   -71.372 deg,	J3=    76.975 deg,
	J4=    -1.629 deg,	J5=   -77.422 deg,	J6=  -101.295 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   159.391 deg,	J2=   -59.445 deg,	J3=    86.290 deg,
	J4=   -88.509 deg,	J5=  -111.319 deg,	J6=   -85.758 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   164.272 deg,	J2=   -34.025 deg,	J3=    51.141 deg,
	J4=   -79.561 deg,	J5=  -102.807 deg,	J6=   -49.549 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   167.762 deg,	J2=   -36.330 deg,	J3=    49.770 deg,
	J4=   -81.603 deg,	J5=   -99.927 deg,	J6=   -48.621 deg
};
P[9:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X = -2974.692  mm,	Y =   102.916  mm,	Z = -1623.161  mm,
	W =   -71.101 deg,	P =    89.648 deg,	R =  -160.368 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   167.686 deg,	J2=   -38.893 deg,	J3=    51.214 deg,
	J4=   -81.801 deg,	J5=  -100.201 deg,	J6=   -50.054 deg
};
P[11:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   164.265 deg,	J2=   -36.311 deg,	J3=    52.633 deg,
	J4=   -79.781 deg,	J5=  -103.017 deg,	J6=   -51.215 deg
};
P[12:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   159.391 deg,	J2=   -59.445 deg,	J3=    86.290 deg,
	J4=   -88.509 deg,	J5=  -111.319 deg,	J6=   -85.758 deg
};
P[13:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   191.910 deg,	J2=   -71.372 deg,	J3=    76.975 deg,
	J4=    -1.629 deg,	J5=   -77.422 deg,	J6=  -101.295 deg
};
P[14:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   168.853 deg,	J2=   -82.496 deg,	J3=    75.427 deg,
	J4=    92.163 deg,	J5=   -75.580 deg,	J6=  -111.661 deg
};
P[15:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  -325.007  mm,	Y =  2707.689  mm,	Z =  2280.758  mm,
	W =   -90.785 deg,	P =   -85.911 deg,	R =   -56.116 deg
};
P[16:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    79.571 deg,	J2=   -81.938 deg,	J3=    89.820 deg,
	J4=    89.989 deg,	J5=   -75.422 deg,	J6=   -94.260 deg
};
P[17:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    44.011 deg,	J2=   -87.080 deg,	J3=    90.000 deg,
	J4=     8.668 deg,	J5=   -86.410 deg,	J6=  -102.928 deg
};
/END
